8-4
182582-1CD
182582-1CD
8 System Setup
8.1 Home Position Calibration
MH900, DX200 Controller
8.1.1 Home Position Calibration
Home position calibration is an operation in which the home position and
absolute encoder position coincide. Although this operation is performed
prior to shipment at the factory, the following cases require this operation
to be performed again.
• Change in the combination of the manipulator and controller
• Replacement of the motor or absolute encoder
• Clearing stored memory (by replacement of YIF01-ჱE circuit board,
weak battery, etc.)
• Home position deviation caused by hitting the manipulator against a
workpiece, etc.
To calibrate the home position, use the axis keys to calibrate the home
position mark on each axis so that the manipulator can take its posture for
the home position. There are two operations for home position calibration:
• All the axes can be moved at the same time:
Recalibrate the home position by moving all the axes together if
changing the combination of manipulator and circuit board.
• Axes can be moved individually:
Recalibrate the home position for the individual axes that were
affected by the replacement, if replacing the motor or absolute
encoder.
If the absolute data of its posture for the home position is already known,
set the absolute data again after completing home position registration.
• Teaching and playback are not possible before the
completion of the home position calibration.
In a system with two or more manipulators, calibrate the
home position of all the manipulators before starting
teaching or playback
Home Position
The home position is the pulse value “0” for each axis and
its posture. See section 8.1.3 “Home Position of the Robot”.
To Next Page
Loading...
